EP1278984B1 - Un chariot automoteur apte a se deplacer dans une galerie cylindrique - Google Patents

Un chariot automoteur apte a se deplacer dans une galerie cylindrique Download PDF

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Publication number
EP1278984B1
EP1278984B1 EP01931797A EP01931797A EP1278984B1 EP 1278984 B1 EP1278984 B1 EP 1278984B1 EP 01931797 A EP01931797 A EP 01931797A EP 01931797 A EP01931797 A EP 01931797A EP 1278984 B1 EP1278984 B1 EP 1278984B1
Authority
EP
European Patent Office
Prior art keywords
wheel
rollers
axis
carriage according
support axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP01931797A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP1278984A1 (fr
Inventor
Jean-Marc Sabatie
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Compagnie du Sol SARL
Original Assignee
Compagnie du Sol SARL
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Filing date
Publication date
Application filed by Compagnie du Sol SARL filed Critical Compagnie du Sol SARL
Publication of EP1278984A1 publication Critical patent/EP1278984A1/fr
Application granted granted Critical
Publication of EP1278984B1 publication Critical patent/EP1278984B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
    • F16L55/28—Constructional aspects

Definitions

  • the present invention relates to a self-propelled carriage adapted to move in a substantially cylindrical gallery.
  • the invention relates to a trolley self-propelled who can move inside the gallery that is realized by a tunnel boring machine in the ground, this self-propelled truck serving as a vehicle for service for the tunnel boring machine. It can serve in particular to bring to the tunneling the elements of voussoir and allow the removal of cuttings.
  • Another solution would be to provide, on the trolley, a user controlled steering system for guiding the trolley when the gallery has a curved portion.
  • a set of direction of course complicates the realization of the carriage and imposes the presence of an operator during the movements of the chanot.
  • An object of the present invention is to provide a trolley self-propelled that can be moved in such a gallery without being necessary to set up rails and while avoiding to foresee on this carriage of particular steering control means take into account the possible non-rectilinear nature of at least some portions of the gallery.
  • the center of gravity of the bucket is arranged below the support axis of the bucket and preferential way also, the center of gravity of each train of wheels is placed below the center of gravity of the bucket.
  • each wheel has three disks parallel to each other, the periphery of each of the disks being equipped of pebbles. This arrangement makes it possible to increase the contact area between the wheels and the wall of the gallery and thus to avoid the alteration of it by a point load too high.
  • the axes of the rollers of a disc are offset from the axes of the rollers of the two other discs according to the direction of the periphery of each disc. This offset allows a "continuity" of rolling surface of the rollers in the direction of the shaft of each wheel.
  • FIG. 1 we will describe a preferred embodiment of the self-propelled boat.
  • This one is constituted essentially by a bucket 10 and a frame 11 comprising a front wheel train 12 and a rear wheel train 14.
  • the two trains of wheels being identical, it will be described only, for example, the train of rear wheels 14.
  • the bucket 10 which can have a shape substantially hemi-cylindrical is connected to the frame 11 by a longitudinal axis horizontal 16, the bucket 10 being pivotally mounted via bearings not shown around the axis 16.
  • the wheels 12 and 14 are preferably connected to one another by means of rails 20 and 22 which of course extend out of the bucket 10 and parallel to the longitudinal axis.
  • each arm 24a, 26a is pivotally mounted via bearings at the end 16b of the horizontal support axis 16.
  • each arm is constituted by a first substantially rectilinear portion 28 and by a second portion 30 forming an angle with the first portion 28.
  • the second end 24b, 26b of each arm carries a motor shaft 32 whose axis x, x 'is orthogonal to the direction X, X' of the support axis 16.
  • the ends of the longitudinal members 20 and 22 are respectively secured to the ends 24b and 26b of the wheel trains 12 and 14. two sets of wheels are thus joined together to form the chassis of the carriage.
  • the angle between the two arms 24 and 26 of the same set of wheels is maintained at a constant value by a spacer piece 34, whose ends 34a and 34b are integral with these arms.
  • the spacer 34 is provided with different fixing holes 36 which thus make it possible to regulate the angle made by the two arms and therefore to adapt the wheel train to the diameter of the gallery in which the self-propelled cart must be move.
  • Each arm 24, 26 is also equipped with a motor 38 which cooperates with the shaft 32 by suitable transmission means to control the rotation of each wheel 40 and 42 of the wheel train 14.
  • each wheel for example 40 is constituted by three disks 44, 46, 48 parallel to each other each consisting of two flanges 50 and 52 which are fixed on a hub 54 itself secured to the rotating shaft 32.
  • each disk 44, 46, 48 is equipped with rollers such as that 56 which constitute the tread of each disc 44 to 48 and wheel of the wheel 40.
  • rollers are mounted free in rotation on pins 58 integral flanges 50 and 52, these axes being orthogonal to the x, x 'axes of the drive shafts of the wheels and therefore to the axes of the wheels.
  • rollers 56 are regularly spaced at the periphery of disks 44 to 48 and are pivotally mounted on pins 58 by bearings 60.
  • the rollers 56 are made in one material with a low coefficient of friction and their external face at the shape of a surface of revolution whose axis is confused with that of axes 58 and which is defined by a portion of a circular arc 62 of such so that each pebble has the general shape of a barrel.
  • the diameter of the circle, on which are arranged the axes 58 of the rollers 56 of the disc median 46, is greater than the diameter of the corresponding circle for side discs 44 and 48.
  • the axes of the rollers 56a of the disk 44, 56b of the disc 46 and 56c of the disc 48 are angularly offset by relative to the axis of the wheel, so that there is a continuity of the tread of each wheel constituted by the three series of rollers 56a, 56b and 56c when looking at the wheel in the direction of its rotation axis x, x '.
  • the median planes Q, Q 'of 56 rollers orthogonal to their axes 58 are shifted for each disk.
  • the entire carriage can move even if the gallery does not have a straight axis without it being necessary for it to provide means for steering the carriage through the transverse component of displacement D 2 .
  • the self-propelled carriage is shown in a portion of straight gallery.
  • the two arms 24 and 26 of the wheelset are symmetrical with respect to a vertical median plane P, P 'of the gallery H.
  • the carriage is represented in a portion of H gallery not rectilinear.
  • the main longitudinal displacement of trains of wheels along the axis of the gallery combines as already explained with a rotational movement of the rollers 56 constituting these wheels.
  • This composition of movements entails an overall rotation of the trains of wheels 12 and 14 with respect to the vertical plane P, P 'of the gallery, around the longitudinal support axis 16. This is shown in FIG. 6.
  • the set of wheel sets has a center of gravity G2 which is disposed of course below the support axis 16 but also below the center of gravity G1 of the bucket.
  • the resulting moments of these relative positions of the centers of gravity tend to bring also the wheel trains 12 and 14 to their rest position vertical (arms 24 and 26 symmetrical with respect to the vertical plane P, P '), this position being shown in FIG.
  • each wheel of the wheel trains is constituted by three disks 44 to 48 carrying each of the rollers 56. It goes without saying that for certain applications, each wheel could have only one disc equipped with rollers previously decnts or only two discs.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Handcart (AREA)
  • Protection Of Plants (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Toys (AREA)
  • Motorcycle And Bicycle Frame (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)
  • Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Actuator (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Transmission Devices (AREA)
  • Manipulator (AREA)
EP01931797A 2000-05-04 2001-05-04 Un chariot automoteur apte a se deplacer dans une galerie cylindrique Expired - Lifetime EP1278984B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0005694A FR2808491B1 (fr) 2000-05-04 2000-05-04 Un chariot automoteur apte a se deplacer dans une galerie cylindrique
FR0005694 2000-05-04
PCT/FR2001/001367 WO2001084039A1 (fr) 2000-05-04 2001-05-04 Un chariot automoteur apte a se deplacer dans une galerie cylindrique

Publications (2)

Publication Number Publication Date
EP1278984A1 EP1278984A1 (fr) 2003-01-29
EP1278984B1 true EP1278984B1 (fr) 2005-07-20

Family

ID=8849884

Family Applications (1)

Application Number Title Priority Date Filing Date
EP01931797A Expired - Lifetime EP1278984B1 (fr) 2000-05-04 2001-05-04 Un chariot automoteur apte a se deplacer dans une galerie cylindrique

Country Status (11)

Country Link
US (1) US7000548B2 (xx)
EP (1) EP1278984B1 (xx)
AT (1) ATE300014T1 (xx)
AU (1) AU2001258492A1 (xx)
CA (1) CA2408059C (xx)
DE (1) DE60112072T2 (xx)
ES (1) ES2247108T3 (xx)
FR (1) FR2808491B1 (xx)
HK (1) HK1052379A1 (xx)
PT (1) PT1278984E (xx)
WO (1) WO2001084039A1 (xx)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2821386B1 (fr) * 2001-02-26 2003-05-16 Cie Du Sol Remorque de train suiveur pour tunnelier
US7181985B2 (en) 2005-05-27 2007-02-27 Breval Technical Services Limited Conduit inspection apparatus and method
US20070214994A1 (en) * 2006-03-16 2007-09-20 Pierson Construction Corporation Pipeline traverse apparatus
US8025551B2 (en) * 2006-09-20 2011-09-27 Mattel, Inc. Multi-mode three wheeled toy vehicle
US20080202769A1 (en) * 2007-02-28 2008-08-28 Dupree Wade D Well Wall Gripping Element
JP5358432B2 (ja) * 2007-04-20 2013-12-04 本田技研工業株式会社 全方向駆動装置及びそれを用いた全方向移動車
KR101044378B1 (ko) * 2007-04-20 2011-06-29 혼다 기켄 고교 가부시키가이샤 전방향 구동 장치 및 그것을 사용한 전방향 이동차
FR2928669B1 (fr) 2008-03-12 2012-01-13 Cie Du Sol Machine de curage
US8353378B2 (en) * 2009-09-18 2013-01-15 Honda Motor Co., Ltd. Frictional drive device and inverted pendulum type vehicle using the same
JP5292242B2 (ja) * 2009-09-21 2013-09-18 本田技研工業株式会社 摩擦式駆動装置および倒立振子型移動体
JP5208906B2 (ja) * 2009-11-13 2013-06-12 本田技研工業株式会社 倒立振子型車両
CN101915339B (zh) * 2010-07-29 2012-09-12 中国科学院深圳先进技术研究院 管道机器人
US8408339B2 (en) * 2010-10-12 2013-04-02 Honda Motor Co., Ltd. Frictional drive device and inverted pendulum type vehicle using the same
US20130077910A1 (en) * 2011-09-23 2013-03-28 Siemens Industry, Inc. High speed mechanical bearing using fixed rollers
EP3077279B1 (en) * 2013-11-30 2018-07-18 Saudi Arabian Oil Company Hinged vehicle chassis
US10060569B2 (en) * 2014-06-25 2018-08-28 Orlande Wayne Sivacoe Pipe pig
CN104743449B (zh) * 2015-04-03 2016-06-29 中国水利水电第十工程局有限公司 应用于圆洞内的无轨门机
CN106044552B (zh) * 2016-08-08 2018-04-24 中铁工程机械研究设计院有限公司 一种多支腿轮胎式铺轨起重机及施工方法
FR3056200B1 (fr) 2016-09-16 2018-11-23 Vinci Construction Systeme enterre de distribution de marchandises en milieu urbain
CN110953439B (zh) * 2019-11-22 2020-11-06 清华大学 适应复杂管道的一体化机器人

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
YU35048B (en) * 1971-05-13 1980-06-30 Snam Progetti Self-propelled and self-adjustable carriage capable of moving along the track of a non-linear line, e.g.pipeline
JPS5383284A (en) * 1976-12-27 1978-07-22 Ueno Kougiyou Yuugengaishiya Pnumaticctransportationntype cart
US4369713A (en) * 1980-10-20 1983-01-25 Transcanada Pipelines Ltd. Pipeline crawler
DE3279176D1 (en) * 1982-08-30 1988-12-08 Kosuke Matsukata High speed underground transport system
US4526106A (en) * 1983-10-11 1985-07-02 Carnegie-Mellon University Three-wheeled adjustable vehicle
GB2301187B (en) * 1995-05-22 1999-04-21 British Gas Plc Method of and apparatus for locating an anomaly in a duct
NL1008415C2 (nl) * 1998-02-25 1999-08-30 Univ Delft Tech Vervoersysteem.

Also Published As

Publication number Publication date
WO2001084039A1 (fr) 2001-11-08
US20030075366A1 (en) 2003-04-24
ES2247108T3 (es) 2006-03-01
FR2808491A1 (fr) 2001-11-09
DE60112072D1 (de) 2005-08-25
DE60112072T2 (de) 2006-05-18
US7000548B2 (en) 2006-02-21
AU2001258492A1 (en) 2001-11-12
HK1052379A1 (en) 2003-09-11
FR2808491B1 (fr) 2002-08-09
CA2408059C (en) 2009-09-01
ATE300014T1 (de) 2005-08-15
EP1278984A1 (fr) 2003-01-29
CA2408059A1 (en) 2001-11-08
PT1278984E (pt) 2005-11-30

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